Revision 6:f609257cec0a, committed 2016-11-18

Comitter:

RichardHoekstra

Date:

Fri Nov 18 22:01:22 2016 +0000

Parent:

5:846191af84ae

Child:

7:cb20720dbab9

Commit message:

Added the last commands for the motorcontroller. God, this function is ugly as sin.

Changed in this revision

--- a/main.cpp	Thu Nov 17 18:25:06 2016 +0000
+++ b/main.cpp	Fri Nov 18 22:01:22 2016 +0000
@@ -2,7 +2,7 @@
 #include "mbed_rpc.h"
 #include "SerialRPCInterface.h"
 
-enum command_t{ //SENSORCONTROLLER COMMANDS
+enum command_t{ //MOTORCONTROLLER COMMANDS
                     SET_MODE = 1,
                     SET_CONSTANT_PRESSURE, 
                     SET_CONSTANT_FLOW, 
@@ -12,7 +12,7 @@
                     SET_FREQUENCY, 
                     RECEIVE_PRESSURE, 
                     RECEIVE_FLOW,
-                //MOTORCONTROLLER COMMANDS
+                //SENSORCONTROLLER COMMANDS
                     //Pressure sensor commands
                     SET_SENSOR_PRESSURE_1_SAMPLE_RATE = 13,
                     SET_SENSOR_PRESSURE_1_MVA,
@@ -66,18 +66,21 @@
     RPCVariable<int>  RPCtempsensor2_mva_elements(&tempsensor2_mva_elements, "tempsensor2_mva_elements");
     RPCVariable<int>  RPCflowsensor_mva_elements(&flowsensor_mva_elements, "flowsensor_mva_elements");
     //MOTORCONTROLLER - SETTINGS
-    /*
-    SET_MODE:
-    SET_CONSTANT_PRESSURE:
-    SET_CONSTANT_FLOW:
-    SET_CONSTANT_SPEED:
-    SET_MIN:
-    SET_MAX:
-    SET_FREQUENCY:
-    RECEIVE_PRESSURE:
-    RECEIVE_FLOW:
-    */
+    int motorcontroller_mode = 0,
+        motorcontroller_constant_pressure = 0,
+        motorcontroller_constant_flow = 0,
+        motorcontroller_constant_speed = 0,
+        motorcontroller_min = 0,
+        motorcontroller_max = 0,
+        motorcontroller_frequency = 0;
     
+    RPCVariable<int>  motorcontroller_mode(&motorcontroller_mode, "motorcontroller_mode");
+    RPCVariable<int>  motorcontroller_constant_pressure(&motorcontroller_constant_pressure, "motorcontroller_constant_pressure");
+    RPCVariable<int>  motorcontroller_constant_flow(&motorcontroller_constant_flow, "motorcontroller_constant_flow");
+    RPCVariable<int>  motorcontroller_constant_speed(&motorcontroller_constant_speed, "motorcontroller_constant_speed");
+    RPCVariable<int>  motorcontroller_min(&motorcontroller_min, "motorcontroller_min");
+    RPCVariable<int>  motorcontroller_max(&motorcontroller_max, "motorcontroller_max");
+    RPCVariable<int>  motorcontroller_frequency(&motorcontroller_frequency, "motorcontroller_frequency");   
     
 //UPDATE PERIODS
     float pressure1_update_period_s = 1;
@@ -232,11 +235,11 @@
         tick_flow.attach(&updateFlow,flow_update_period_s);  
         old_flow_update_period_s = flow_update_period_s;
     }
-        static int  old_druksensor1_mva_elements,
-                    old_druksensor2_mva_elements,
-                    old_tempsensor1_mva_elements,
-                    old_tempsensor2_mva_elements,
-                    old_flowsensor_mva_elements;
+    static int  old_druksensor1_mva_elements,
+                old_druksensor2_mva_elements,
+                old_tempsensor1_mva_elements,
+                old_tempsensor2_mva_elements,
+                old_flowsensor_mva_elements;
     //If LabView has changed variables for the motor or sensor settings
     //then send an update over I2C
     if(old_druksensor1_mva_elements != druksensor1_mva_elements){
@@ -274,6 +277,64 @@
         i2c.write(sensor_addr, buffer, 3);
         old_flowsensor_mva_elements = flowsensor_mva_elements;
     }
+    
+    //Motorcontroller
+    static int  old_motorcontroller_mode = 0,
+                old_motorcontroller_constant_pressure = 0,
+                old_motorcontroller_constant_flow = 0,
+                old_motorcontroller_constant_speed = 0,
+                old_motorcontroller_min = 0,
+                old_motorcontroller_max = 0,
+                old_motorcontroller_frequency = 0;
+    if(old_motorcontroller_mode != motorcontroller_mode){
+        char buffer[3] = {0};
+        buffer[0] = SET_MODE;
+        int_to_2char(buffer, motorcontroller_mode, 1);
+        i2c.write(motor_addr, buffer, 3);
+        old_motorcontroller_mode = motorcontroller_mode;
+    }
+    if(old_motorcontroller_constant_pressure != motorcontroller_constant_pressure){
+        char buffer[3] = {0};
+        buffer[0] = SET_CONSTANT_PRESSURE;
+        int_to_2char(buffer, motorcontroller_constant_pressure, 1);
+        i2c.write(motor_addr, buffer, 3);
+        old_motorcontroller_constant_pressure = motorcontroller_mode;
+    }
+    if(old_motorcontroller_constant_flow != motorcontroller_constant_flow){
+        char buffer[3] = {0};
+        buffer[0] = SET_CONSTANT_FLOW;
+        int_to_2char(buffer, motorcontroller_constant_flow, 1);
+        i2c.write(motor_addr, buffer, 3);
+        old_motorcontroller_constant_flow = motorcontroller_constant_flow;
+    }
+    if(old_motorcontroller_constant_speed != motorcontroller_constant_speed){
+        char buffer[3] = {0};
+        buffer[0] = SET_CONSTANT_SPEED;
+        int_to_2char(buffer, motorcontroller_constant_speed, 1);
+        i2c.write(motor_addr, buffer, 3);
+        old_motorcontroller_constant_speed = old_motorcontroller_constant_speed;
+    }
+    if(old_motorcontroller_min != motorcontroller_min){
+        char buffer[3] = {0};
+        buffer[0] = SET_MIN;
+        int_to_2char(buffer, motorcontroller_min, 1);
+        i2c.write(motor_addr, buffer, 3);
+        old_motorcontroller_min = motorcontroller_min;
+    }
+    if(old_motorcontroller_max != motorcontroller_max){
+        char buffer[3] = {0};
+        buffer[0] = SET_MAX;
+        int_to_2char(buffer, motorcontroller_max, 1);
+        i2c.write(motor_addr, buffer, 3);
+        old_motorcontroller_max = motorcontroller_max;
+    }
+    if(old_motorcontroller_frequency != motorcontroller_frequency){
+        char buffer[3] = {0};
+        buffer[0] = SET_FREQUENCY;
+        int_to_2char(buffer, motorcontroller_frequency, 1);
+        i2c.write(motor_addr, buffer, 3);
+        old_motorcontroller_frequency = motorcontroller_frequency;
+    }                         
 }
 
 int main() {